
#include <iostream>
#include<pcl/point_cloud.h>
#include<pcl/visualization/pcl_visualizer.h>
#include<pcl/io/pcd_io.h>
#include<pcl/point_types.h>

#include "stdafx.h"
#include <string>
#include <string.h>
#include<time.h>
#ifndef _WIN32
#include <stdlib.h>
#include <stdio.h>
#include <unistd.h>
#include <locale.h>
#include <malloc.h>
#define Sleep(a) usleep(1000 * a)
#define scanf_s scanf
#define system(a) printf("Press Enter to continue.\n\n");fgetc(stdin);fgetc(stdin)
#define sprintf_s snprintf
#else
#include "windows.h"
#endif
#include "MPSizectorS_API.h"


#define SHOW_LOG false
#define SHOW_DETAIL_STATE false
////////////................................................................
//初始化 相机得到 点云
int sxinit(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud_camera);

//显示 
boost::shared_ptr<pcl::visualization::PCLVisualizer>simpleVIS(pcl::PointCloud<pcl::PointXYZRGBA>::Ptr cloud);

void LogCallBack(const char* Log);
void DataCallBack(MPSizectorS_DataFormatType DataFormat, MPSizectorS_DataFrameUndefinedStruct Data);
void DeviceStateChangeCallBack(MPSizectorS_DeviceStateType DeviceState);
int Getdatacopy(MPSizectorS_DataFrameFloat3DStruct Float3DData, pcl::PointCloud<pcl::PointXYZRGBA>::Ptr pointcloud);